// --------------------------------------------------------------------------------------------------------------------
// <copyright file="DepthCameraAgentMessage.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
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//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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//  THE SOFTWARE.
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// --------------------------------------------------------------------------------------------------------------------
namespace Microsoft.Robotics.Vision.Runtime.Cameras
{
    using System;
    using System.Diagnostics;
    using System.Drawing;
    using System.Runtime.InteropServices;
    using System.Runtime.Serialization;

    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;
    using Microsoft.Robotics.Tracing;
    using Microsoft.Robotics.Vision.Cameras;

    /// <summary>
    /// Container for the data produced by a depth camera
    /// </summary>
    /// <typeparam name="TParameters">The type of depth camera parameters</typeparam>
    [DataContract]
    public class DepthCameraAgentMessage<TParameters> : CameraAgentMessage<short, TParameters>
        where TParameters : DepthParameters
    {
        /// <summary>
        /// Initializes a new instance of the DepthCameraAgentMessage class
        /// </summary>
        /// <param name="originatingTime">The originating time of the message</param>
        /// <param name="image">The image produced by the camera</param>
        /// <param name="parameters">The parameters of the camera</param>
        public DepthCameraAgentMessage(long originatingTime, ImageFrame<short> image, TParameters parameters)
            : base(originatingTime, image, parameters)
        {
        }

        /// <summary>
        /// Initializes a new instance of the DepthCameraAgentMessage class
        /// </summary>
        /// <param name="that">A depth camera agent message</param>
        public DepthCameraAgentMessage(DepthCameraAgentMessage<TParameters> that)
            : base(that.OriginatingTime, that.ImageFrame, that.Parameters)
        {
        }

        /// <summary>
        /// Gets the depth image frame
        /// </summary>
        public ImageFrameDepth DepthFrame
        {
            get
            {
                if (null != this.ImageFrame)
                {
                    return new ImageFrameDepth(this.ImageFrame);
                }
                else
                {
                    return null;
                }
            }
        }
    }
}
